CN104290655A - Method and device for early warming rollover of vehicle - Google Patents
Method and device for early warming rollover of vehicle Download PDFInfo
- Publication number
- CN104290655A CN104290655A CN201410238850.5A CN201410238850A CN104290655A CN 104290655 A CN104290655 A CN 104290655A CN 201410238850 A CN201410238850 A CN 201410238850A CN 104290655 A CN104290655 A CN 104290655A
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- vehicle
- steering wheel
- wheel angle
- early warning
- time
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Abstract
The invention relates to a method and device for early warming rollover of a vehicle. The method for early warming rollover of the vehicle comprises the steps that a steering wheel angle of key factors for generating lateral acceleration of the vehicle is analyzed; the change tendency of the lateral acceleration is judged by combining the acceleration of the steering wheel angle; compared with identification of rollover states according to the lateral acceleration, the method can provide more adequate and effective early-warming time to remind a driver to adopt reasonable manipulation, and the driving safety of the vehicle is improved.
Description
Technical field
The present invention relates to a kind of vehicle rollover method for early warning and device, belong to vehicle active safety early warning technology field.
Background technology
The loss that rollover accident causes is serious, is the major issue of traffic safety and vehicle safety field of research.Along with the development of vehicle sensors, for state of motion of vehicle identification provides actv. perceptual signal, prevention before car accident is played an important role.In vehicle rollover state recognition field, also occur based on lateral acceleration critical value, carried out with rollover time (Time-To-Rollover:TTR) the rollover warning algorithm that early warning mechanism judges.The judgement of lateral acceleration signal to roll-over state belongs to direct signal, calculates the rollover time according to the bank moment that lateral acceleration produces.This method of calculating is in actual application, and must be that acceleration/accel has produced and continued for some time and just can carry out early warning, even if this will cause early warning signal to send, chaufeur can take the limited time of correction action, and the beneficial effect of generation is very little.
Summary of the invention
The object of this invention is to provide a kind of rollover method for early warning and device, in order to solve anticipation vehicle rollover state, send early warning signal timely and effectively, ensure that chaufeur has time enough to correct rollover trend, remind chaufeur deceleration or slow direction of beating to avoid rollover to occur, ensure the problem of vehicle safe driving.
For achieving the above object, the solution of the present invention comprises:
A kind of vehicle rollover method for early warning, comprises the steps:
1). gather steering wheel angle information and vehicle velocity V
xinformation, the initial time t of record corner change
0, the peak value a that lateral acceleration produces
ymax, calculate peak response time t
rsp-t
0, described initial time t
0it is the moment that steering wheel angle absolute value starts to increase;
2). note current time is t
n, compare, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, described t
warnfor preset value.
By in different vehicle velocity V
xthe peak value a that vehicle velocity V x and lateral acceleration produce is determined with the bearing circle angle step test carried out under different directions dish corner cireular frequency condition
ymaxwith peak response time t
rsp-t
0relation.
When the speed of a motor vehicle declines or described steering wheel angle cireular frequency
time contrary with steering wheel angle δ symbol, early warning signal is removed.
A kind of vehicle rollover prior-warning device, comprising:
1). gather steering wheel angle information and vehicle velocity V
xthe module of information, the initial time t of record corner change
0, the peak value a that lateral acceleration produces
ymax, calculate peak response time t
rsp-t
0, described initial time t
0it is the moment that steering wheel angle absolute value starts to increase;
2). numerical value comparison module, note current time is t
n, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, described t
warnfor preset value.
By in different vehicle velocity V
xthe peak value a that vehicle velocity V x and lateral acceleration produce is determined with the bearing circle angle step test carried out under different directions dish corner cireular frequency condition
ymaxwith peak response time t
rsp-t
0relation.
When the speed of a motor vehicle declines or described steering wheel angle cireular frequency
time contrary with steering wheel angle δ symbol, early warning signal is removed.
Beneficial effect of the present invention is, the present invention is to provide a kind of vehicle rollover method for early warning and device, by to produce vehicle lateral acceleration key factor---steering wheel angle is analyzed, and bonding position dish corner acceleration/accel judges the variation tendency of lateral acceleration, comparatively according to lateral acceleration, roll-over state is identified, can provide more fully and actv. pre-warning time prompting chaufeur take reasonable manipulation, lifting vehicle driving safety.
Accompanying drawing explanation
Fig. 1 is the relation schematic diagram of steering wheel angle and time;
Fig. 2 is lateral acceleration response characteristic parameter schematic diagram;
Fig. 3 is Vehicle Lateral Motion Based system parameter schematic diagram.
In figure:
M: vehicle mass; H: height of center of mass; L; Wheelspan; h
r: height of roll center; a
y: lateral acceleration; F
zi: ground is applied to the vertical force of inboard wheel; F
zo: ground is applied to the vertical force of outboard wheels.
Detailed description of the invention
Below in conjunction with accompanying drawing, vehicle rollover method for early warning is further described in detail.
A kind of vehicle rollover method for early warning, comprises the steps:
1). gather steering wheel angle information and vehicle velocity V
xinformation, the initial time t of record corner change
0, the peak value a that lateral acceleration produces
ymax, calculate peak response time t
rsp-t
0, described initial time t
0it is the moment that steering wheel angle absolute value starts to increase;
2). note current time is t
n, compare, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, described t
warnfor preset value.
The initial time t of record steering wheel angle change
0unless steering wheel angle absolute value has the trend of reduction, otherwise this initial time keeps not upgrading; In the process that steering wheel angle absolute value increases, get the steering wheel angle cireular frequency of maximum cireular frequency as this process
Calculate peak response time t
rsp-t
0: in different vehicle velocity V
xwith different directions dish corner cireular frequency [δ
max/ (t
step-t
0)] under condition, carry out the step test of a series of bearing circle angles; Analyze the peak response characteristic that in above-mentioned test, lateral acceleration inputs different directions dish corner, as depicted in figs. 1 and 2, obtain lateral acceleration peak value a
ymax, lateral acceleration peak response time t
rsp-t
0;
Lateral acceleration peak value a
ymax: the maxim that side direction accelerated energy enough reaches under this operating mode;
Lateral acceleration acceleration peak value response time t
rsp-t
0: bearing circle a step input is initial, time difference when lateral acceleration peak value produces to first time.
Lateral acceleration acceleration peak value response time t
rsp-t
0for reference value, as the comparative figure when carrying out rollover early warning and judging.
As shown in Figure 3, quasistatic rollover threshold value A is calculated
y, now inboard wheel leaves ground (that is: F
zi=0):
Get 1/3 of quasistatic rollover threshold value as threshold value of warning of dynamically turning on one's side:
Note current time is t
n, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, t
warnfor preset value.
T
warnslow down for reminding chaufeur in advance or the slow time of beating direction; When the speed of a motor vehicle drops to K × V
xor steering wheel angle cireular frequency
time contrary with steering wheel angle δ symbol, early warning signal is removed, and wherein K is that calibrating parameters is removed in early warning, and span is (0,1).
Below in conjunction with a specific embodiment, a detailed description is carried out to the present invention.
Certain vehicle L=2068mm, h=1156mm, according to
:
Quasistatic rollover threshold value A
y=g × 2068/ (2 × 1156)=0.89g,
Dynamic rollover threshold value
Get [t
step-t
0]=1s, by vehicle dynamics simulation, according to rollover method for early warning, as depicted in figs. 1 and 2 side direction acceleration peak value response characteristic is demarcated, determine the operating mode that may produce rollover in conjunction with threshold value of dynamically turning on one's side, and carry out early warning in advance, draw a series of data as shown in table 1 below:
Certain vehicle lateral acceleration response characteristic of table 1
Boldface is approximate or exceeds the operating mode of dynamically rollover threshold value, needs to give warning in advance.
Consider the response characteristic of chaufeur, get t
warn=0.5s, as the time of giving warning in advance, gets K=0.8 and removes calibrating parameters as early warning, gathers the speed of a motor vehicle, steering wheel angle, steering wheel angle angular acceleration signal writing time by Information Collecting & Processing device in the present invention.
According to shown in table 1, under the speed of a motor vehicle is 70km/h condition, bearing circle starts to rotate as t
0moment, if steering wheel angle cireular frequency
more than 90 °/s, then can at t
n(t
n=1.55-0.5=1.05s) early warning signal sends by the moment, reminds driver vehicle to turn on one's side the generation of trend by modes such as sound, optics, vibrations.
Chaufeur is taked to slow down or delay the mode of beating direction according to rollover early warning signal and is avoided rollover to occur, and when the speed of a motor vehicle drops to 70 × 0.8=56km/h or steering wheel angle angular acceleration is contrary with steering wheel angle direction, removes early warning signal.
According to vehicle speed signal, steering wheel angle signal, steering wheel angle acceleration signal, in conjunction with rollover method for early warning provided by the invention, calculate TTR and the rollover trend of vehicle is judged; Then the mode such as sound, optics, vibration is taked to remind driver vehicle to turn on one's side the generation of trend according to early warning mechanism; Last chaufeur is taked to slow down or delay the mode of beating direction according to rollover early warning signal and is avoided rollover to occur, and ensures vehicle safe driving.
Be presented above concrete embodiment, but the present invention is not limited to described embodiment.Basic ideas of the present invention are above-mentioned basic scheme, and for those of ordinary skill in the art, according to instruction of the present invention, designing the model of various distortion, formula, parameter does not need to spend creative work.The change carried out embodiment without departing from the principles and spirit of the present invention, amendment, replacement and modification still fall within the scope of protection of the present invention.
Claims (6)
1. a vehicle rollover method for early warning, is characterized in that, described vehicle rollover method for early warning comprises the steps:
1). gather steering wheel angle information and vehicle velocity V
xinformation, the initial time t of record corner change
0, the peak value a that lateral acceleration produces
ymax, calculate peak response time t
rsp-t
0, described initial time t
0it is the moment that steering wheel angle absolute value starts to increase;
2). note current time is t
n, compare, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, described t
warnfor preset value.
2. vehicle rollover method for early warning according to claim 1, is characterized in that, by different vehicle velocity V
xthe peak value a that vehicle velocity V x and lateral acceleration produce is determined with the bearing circle angle step test carried out under different directions dish corner cireular frequency condition
ymaxwith peak response time t
rsp-t
0relation.
3. vehicle rollover method for early warning according to claim 1, is characterized in that, when the speed of a motor vehicle declines or described steering wheel angle cireular frequency
time contrary with steering wheel angle δ symbol, early warning signal is removed.
4. a vehicle rollover prior-warning device, is characterized in that, described vehicle rollover prior-warning device comprises:
1). gather steering wheel angle information and vehicle velocity V
xthe module of information, the initial time t of record corner change
0, the peak value a that lateral acceleration produces
ymax, calculate peak response time t
rsp-t
0, described initial time t
0it is the moment that steering wheel angle absolute value starts to increase;
2). numerical value comparison module, note current time is t
n, work as t
n-t
0>t
rsp-t
0-t
warntime, produce early warning signal, described t
warnfor preset value.
5. vehicle rollover prior-warning device according to claim 4, is characterized in that, by different vehicle velocity V
xthe peak value a that vehicle velocity V x and lateral acceleration produce is determined with the bearing circle angle step test carried out under different directions dish corner cireular frequency condition
ymaxwith peak response time t
rsp-t
0relation.
6. vehicle rollover prior-warning device according to claim 4, is characterized in that, when the speed of a motor vehicle declines or described steering wheel angle cireular frequency
time contrary with steering wheel angle δ symbol, early warning signal is removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410238850.5A CN104290655B (en) | 2014-05-27 | 2014-05-27 | A kind of vehicle rollover method for early warning and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410238850.5A CN104290655B (en) | 2014-05-27 | 2014-05-27 | A kind of vehicle rollover method for early warning and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104290655A true CN104290655A (en) | 2015-01-21 |
| CN104290655B CN104290655B (en) | 2016-08-10 |
Family
ID=52310689
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|---|---|---|---|
| CN201410238850.5A Expired - Fee Related CN104290655B (en) | 2014-05-27 | 2014-05-27 | A kind of vehicle rollover method for early warning and device |
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| CN (1) | CN104290655B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085382A (en) * | 2016-02-15 | 2017-08-22 | 北京福田康明斯发动机有限公司 | A kind of vehicle parameter calibration facility and method |
| CN110196092A (en) * | 2018-02-26 | 2019-09-03 | 长城汽车股份有限公司 | A kind of car load unevenness detection method, device and vehicle |
| CN110606040A (en) * | 2019-08-30 | 2019-12-24 | 江苏大学 | Correction method suitable for speed variation of automatic distress system for vehicle accident |
| CN111703413A (en) * | 2019-03-18 | 2020-09-25 | 长城汽车股份有限公司 | Lateral control safety monitoring method and system for automatic driving vehicle |
| CN112835367A (en) * | 2021-01-05 | 2021-05-25 | 海门市帕源路桥建设有限公司 | Control method for automatically compensating inclination to horizontal walking |
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| JP2008074269A (en) * | 2006-09-21 | 2008-04-03 | Fuji Heavy Ind Ltd | Roll-over control device for vehicle |
| JP2008174234A (en) * | 2008-03-17 | 2008-07-31 | Toyota Motor Corp | Deciding device of possibility of rollover of vehicle |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
| CN103921719A (en) * | 2014-04-01 | 2014-07-16 | 清华大学 | Driver-interactive type commercial vehicle rollover warning method and system |
-
2014
- 2014-05-27 CN CN201410238850.5A patent/CN104290655B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008074269A (en) * | 2006-09-21 | 2008-04-03 | Fuji Heavy Ind Ltd | Roll-over control device for vehicle |
| JP2008174234A (en) * | 2008-03-17 | 2008-07-31 | Toyota Motor Corp | Deciding device of possibility of rollover of vehicle |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
| CN103921719A (en) * | 2014-04-01 | 2014-07-16 | 清华大学 | Driver-interactive type commercial vehicle rollover warning method and system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085382A (en) * | 2016-02-15 | 2017-08-22 | 北京福田康明斯发动机有限公司 | A kind of vehicle parameter calibration facility and method |
| CN110196092A (en) * | 2018-02-26 | 2019-09-03 | 长城汽车股份有限公司 | A kind of car load unevenness detection method, device and vehicle |
| CN111703413A (en) * | 2019-03-18 | 2020-09-25 | 长城汽车股份有限公司 | Lateral control safety monitoring method and system for automatic driving vehicle |
| CN110606040A (en) * | 2019-08-30 | 2019-12-24 | 江苏大学 | Correction method suitable for speed variation of automatic distress system for vehicle accident |
| CN112835367A (en) * | 2021-01-05 | 2021-05-25 | 海门市帕源路桥建设有限公司 | Control method for automatically compensating inclination to horizontal walking |
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| Publication number | Publication date |
|---|---|
| CN104290655B (en) | 2016-08-10 |
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Granted publication date: 20160810 Termination date: 20200527 |